CN108367433A - Selective deployment of robots to perform mapping - Google Patents
Selective deployment of robots to perform mapping Download PDFInfo
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- CN108367433A CN108367433A CN201680057444.6A CN201680057444A CN108367433A CN 108367433 A CN108367433 A CN 108367433A CN 201680057444 A CN201680057444 A CN 201680057444A CN 108367433 A CN108367433 A CN 108367433A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06311—Scheduling, planning or task assignment for a person or group
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0297—Fleet control by controlling means in a control room
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/46—Sensing device
Abstract
Methods, apparatus, systems, and computer-readable media are provided for selectively deploying robots to perform mapping based on increased cost. In various implementations, a benefit metric may be determined that maps a region of an environment. Costs associated with a robot performing a task may also be determined. An increased cost associated with the robot mapping the area of the environment while performing the task may then be determined. The robot may be selectively deployed to map the area while performing the task in response to determining that the benefit metric is justified for the increased cost.
Description
Background technology
It can usually be deployed in from the semi-autonomous robot that advocates peace and not build in the environment of figure fully.Many such robots can be with
Various technologies are configured to carry out, including but not limited to position and build figure (" SLAM simultaneously：simultaneous
Localization and mapping "), it is more to understand environment.Robot safety can be supported by having the information
And/or efficiently perform various tasks.However, the one or more by executing SLAM or other similar techniques in dynamic environment
What robot obtained builds diagram data may be run ragged as time goes by.In addition, some regions in environment can be than other
Region has more dynamic and/or mission critical, and therefore can ensure to building figure and/or building the high interest of figure again.
Invention content
The disclosure, which relates generally to, selectively disposes robot come also to support robot to execute (for example, as " secondary
Task ") increased interest region the mode for building figure (for example, SLAM) execute task otherwise unrelated with figure is built (for example, make
For " main task ") method, equipment and computer-readable medium (temporary and non-transitory).For example, it may be determined that with portion
One or more robots are affixed one's name to execute the associated one or more costs of one or more main tasks.It is then possible to really
Fixed one or more robots when executing main task to interested region build figure it is one or more it is increased at
This.For example, robot carries out interested region along support robot from the shortest path executed needed for its main task
The longer path transfer for building figure needs how many extra costIf for any of one or more robots, to region
The interests for build figure measure the increased cost for the region build figure when executing its main task for the robot
It is reasonable, the robot is disposed to execute it in a manner of also supporting the robot to carry out building figure to region then can be considered
Main task.If more than one robot is carried out building figure and will be reasonable when executing its corresponding main task to region, that
In embodiments, can to that minimum robot of increased cost dispose.
In some embodiments, a kind of method can be provided, the method includes：It is true by one or more processors
The fixed interests for the region of environment build figure are measured；It is determined and the task of execution by one or more of described processor
The associated cost of robot；It is determined by one or more of described processor and when executing the task to environment
Region build the associated increased cost of robot of figure；And by one or more of described processor in response to
Determine that the interests measurement is reasonable the increased cost and disposes the robot and come when executing the task
The region is carried out to build figure.
The other embodiment of this method and techniques disclosed herein can be optionally included respectively in following characteristics
One or more.
In various embodiments, determine that interests measurement can include determining that the change rate in the region, wherein the area
The change rate in domain is bigger bigger corresponding to the interests measurement for region build figure.In various embodiments, interests degree is determined
Amount can include determining that probabilistic measurement about the region, wherein probabilistic measurement it is bigger correspond to region into
The interests measurement that row builds figure is bigger.In various embodiments, determine that interests measurement can include determining that region is built recently
The time of figure, wherein from region by the time quantum since building figure it is bigger correspond to build the interests measurement of figure more to region
Greatly.In various embodiments, determine that interests measurement can include determining that the measurement of the Data Connectivity in region, wherein data
Internuncial measurement is inversely proportional with the interests measurement for region build figure.
In various embodiments, one or more attributes of robot can be at least partially based on determine it is increased at
This.In various embodiments, one or more attributes of robot may include key metric associated with robot.
In various embodiments, one or more attributes of robot may include requirement measurement associated with robot.Each
In kind embodiment, importance measures associated with task can be at least partially based on to determine increased cost.Various
In embodiment, it can be at least partially based on and build the influence that figure will have the follow-up work for being assigned to robot to region
To determine increased cost.
In various embodiments, task can be first task, and cost can be that robot executes the first task
The first cost, increased cost can be the first increased cost, and the method can also include：Pass through the processor
One or more of determine and associated second cost of execution the second robot of the second task；By in the processor
One or more determine it is associated with carrying out building the second robot of figure to the region of environment when executing second task
The second increased cost；The described first increased cost and described second are increased by one or more of described processor
The cost added is compared；And pass through the result of one or more of described processor based on the comparison selectively portion
First robot or second robot are affixed one's name to carry out building figure to region.
Other embodiment may include the non-transitory computer-readable storage media of store instruction, and described instruction can be by
Computing system and/or one or more processors carry out the method to execute such as one or more of above method.It is another
Embodiment may include such as system of robot or robot management system, and the system comprises memory and logic, institutes
It states memory and logic is operable to carry out instruction stored in memory to realize one or more modules or engine, it is described
The method that one or more modules or engine separately or cooperatively execute such as one or more of above method.
It will be appreciated that all combinations of the aforementioned concepts and additional concept that are described more fully herein are envisaged as being this
A part for theme disclosed in text.For example, all combinations in the claimed theme of the ending appearance of the disclosure are set
Be thought of as be presently disclosed subject matter a part.
Description of the drawings
Fig. 1 schematically shows the exemplary loop that can be used for realizing disclosed technology according to various embodiments
Border.
Fig. 2, Fig. 3, Fig. 4 and Fig. 5 schematically show according to various embodiments how use skill described herein
Art allows robot selectively to be disposed to interested region build the example of figure.
Fig. 6 shows illustrative methods according to various embodiments.
Fig. 7 schematically shows the exemplary architecture of computer system.
Specific implementation mode
Fig. 1 schematically shows exemplary environments according to various embodiments, wherein disclosed technology may be implemented
Selectively to dispose one or more at least semi-autonomous robots 1001To 100NCome emerging to potential sense when executing main task
The region of interest carries out building figure.Robot 1001To 100NEach of can take various forms, it is including but not limited to long-range to present
Robot, robots arm, the class mankind, animal, insect, aquatile, wheeled devices are (for example, shown in the various attached drawings of this paper
The robot fork truck gone out), semi-submersible type delivery vehicle, unmanned plane (" UAV ") etc..Each robot may include logic 102, described
Logic 102 is operatively coupled to memory 103 (for example, RAM, ROM, DRAM, flash memory disk via one or more buses 110
Deng), one or more operating assembly 104a to 104n, one or more end effector 106 and one or more sensors
108a to 108n.In various embodiments, logic 102 may include one or more processors, such as ensure when various
It is executed in modal constraint one or more so-called " real-time processors " of various operations.
As used herein, " operating assembly " 104 of robot can indicate actuator, motor (for example, servo motor),
Connector, axis, gear set, wheel, track, pump (for example, gas pump or liquid pump), piston, driver can be generated and/or be passed through
By propulsive force, rotation and/or movement to be moved relative to each other the component of robot 100 and/or move whole robot 100
Other components.Some operating assemblies can independent control, although it's not necessary.In some instances, robot 100 has
Operating assembly is more, and the one-movement-freedom-degree that it can have is bigger.
As used herein, " end effector " 106 can indicate that multiple types of tools, the multiple types of tools can be by robots
100 operate to complete various tasks.For example, some robots can be equipped with various types of " clampers ", including but it is unlimited
In " impingement " (for example, " picking up " object using opposite finger), " entering type " (for example, physically being penetrated using pin, needle etc.
Object), " shrinkage type " (for example, picking up object using suction or vacuum) or " adjacent type " be (for example, using surface tension, freezing
Knot or adhesive pick up object).More generally, other types of end effector can include but is not limited to drill bit, brush
Son, power/torque sensor, cutting tool, edger, welding torch etc..Specifically, robot is pitched under warehouse environment
Vehicle may include one or more horizontal arms, and one or more of horizontal arms can be inserted in tray and then lift, because
This promotes tray (and any content being stacked on tray).Then, robot fork truck can transport tray and its content
It is downloaded to desired position.
Sensor 108 can take various forms, including but not limited to video camera, optical sensor (for example, passive infrared),
Pressure sensor, pressure wave sensor (for example, microphone), proximity sensor, torque sensor, force snesor, radar, ranging
Instrument, gyroscope, compass, coordinate position sensor (for example, global positioning system or " GPS "), speedometer, bleeds off and falls accelerometer
Sensor (for example, edge for detecting convex surfaces) etc..Although sensor 108a to 108m is shown as and robot 100
Integrally, but it is restrictive that this, which is not offered as,.In some embodiments, sensor 108 can be positioned at robot 100
Outside, but can directly or indirectly be communicated with robot 100, such as manage system as standalone unit or as robot
130 part.Some in aforementioned sensor may be mounted at robot 1001To 100NOn, so that robot
1001To 100NCan execute while position and building figure (" SLAM ") etc. it is various build diagram data collection technique, with obtain about
The information of their operating environment.
Robot 1001To 100NIt can be in various degrees by robot management system 130 control, management and/or selectivity
Ground is disposed.Robot 1001To 100NManaging system 130 with robot can be via one or more wired (for example, Ethernet)
Or wireless (for example, Wi-Fi, Cellular Networks, WiMAX, bluetooth, proprietary network etc.) communication channel 128 communication.Robot manages system
130 may include by one or more computing systems of one or more networks connection (not shown), one or more of meters
Calculation system controls and/or manages in various degrees robot 1001To 100NOperation.The example of such computing system is in the figure 7
It schematically shows.In some embodiments, these multiple computing systems can cooperate to provide so-called " cloud ", described
The computing resource of each computing system is actually combined in library by " cloud ", more powerful and/or more data-intensive to realize
Processing.Any combinations that various modules or engine may be implemented as software, hardware or both manage system 130 as robot
A part.For example, in Fig. 1, it includes user interface engine 132, path planning engine 134, ring that robot, which manages system 130,
Figure engine 136 and robot deployment engine 136 are built in border.
User interface engine 132 can be configured to receive order as defeated from the various sources such as mankind technical staff
Enter.User interface engine 132 can provide or furthermore such that the input can be used for other components of robot management system 130.
Additionally or alternatively, user interface engine 132 can be provided in local and/or distribution to remote computing device (for example, conduct
Interaction network page) one or more user interfaces, one or more of user interfaces can be by use such as technical staff
Family operates to execute various tasks, such as controls robot 1001To 100N, the barrier that instruction builds environment in figure engine 136 is provided
Hinder the input of object or risk, and/or adjustment each seed ginseng related with path planning engine 134 and/or robot deployment engine 140
Number.
Path planning engine 134 can be configured to based upon and robot 100 and/or be assigned to the so-called of robot 100
The associated a variety of constraints of " main " task come calculating robot path, a variety of constraints such as starting point, terminal, required
Mission duration, associated kinematical constraint etc.." task " can indicate be held by robot as used herein
Capable any amount of operation, the combination of operation and/or the sequence of operation.Main task can be relatively easy, such as from point A rows
Point B is proceeded to, people X etc. is followed；Or it is relative complex, such as object is obtained from position A, object is then manipulated or changed, is then gone
Position B is proceeded to, then B puts down object in position, and is then back to position A.
Path planning engine 134 can also be configured to based upon its for example from environment build figure engine 136 learn about machine
Device people 100 by or be carrying out the information of environment of its task and come planning robot path.Additionally or alternatively, path planning draws
Holding up 134 can be by considering that various object-computer device people paths, the target are such as reduced/minimized in robot 100
Wear and tear, reduction/minimum external robots movement (may be constituted neighbouring personnel or object dangerous), minimize road
Diameter distance minimizes traversal path time etc..For this purpose, in some embodiments, path planning engine 134 can be by
It configures and determines such as specific robotic 100, multiple robots 100 to be directed to it for the given path that robot calculates1To 100N
And/or the cost that more generally robot system will integrally be incurred.
Environment builds figure engine 136 and can be configured to collect and for example maintain for example to connect from various sources in index 138
The record for building diagram data received.Robot 100 can be indicated jointly by building these records of diagram data1To 100NThe residing ring of operation
Border.These records can include but is not limited to following record：CONSTRUCTED SPECIFICATION (for example, wall, stair, door, ramp etc.), static barrier
Hinder object (for example, furniture, still life), dynamic barrier (for example, people, other robots, mobile object etc.) and/or robot environment
In the presence of danger (for example, liquid leakage, floor damage etc.).
It can be obtained from various sources and/or the record of more newly-built diagram data.In some embodiments, robot 1001
To 100NIt can be using various sensors 108 (for example, video camera, rangefinder) come the environment of observation when they execute main task
Details, and these visual reports can be built figure engine 136 to environment.In some embodiments, user can with
Family interface engine 132 interacts, and CONSTRUCTED SPECIFICATION that instruction is found recently and/or change, barrier are provided to build figure engine 136 to environment
Hinder the input of object and/or danger.The record for building diagram data in index 138 can for example be used by path planning engine 134 next
Calculate robot path associated with these paths and/or cost.Additionally or alternatively, barrier/danger in index 138
Record can be for example by robot 1001To 100NUsing calculating the optional path around barrier/danger.
In various embodiments, robot deployment engine 140 can be configured to selectively dispose one or more
Robot 1001To 100NTo work as robot 1001To 100NVarious figure relevant sons of building are executed when the main task for executing them to appoint
Business.For example, robot deployment engine 140 can selectively dispose specific robotic 100 can be traversed most from robot 100
Short path deviates, to complete to be assigned to the main task of robot 100 so that robot 100 can for example using one or
Multiple sensors 108 carry out building figure to specific interested region simultaneously.
Robot deployment engine 140 can selectively dispose robot 1001To 100NCarry out performing environment in various ways
In build figure.For example, in some embodiments, robot deployment engine 140 can be determined to be carried out building figure to the region of environment
Interests measurement.Robot deployment engine 140 can also determine associated with the robot 100 of main task for executing appointment
Cost, and build the associated increased cost of the robot 100 of figure to the region of environment with when executing main task.
Based on the information, robot deployment engine 140 can selectively dispose or not dispose robot 100 executing what it was assigned
Region is carried out when main task to build figure.
Robot deployment engine 140 can determine that the specific region to environment build the profit of figure based on various data points
Benefit measurement, the data point are for example stored in index 138 and build diagram data record.In some embodiments, the change in region
Rate may influence to region build the interests measurement of figure.If such as based on the record in index 138, determining region
Often and/or (for example, serving as the depot area in the interim small station of the tray for stock) is significantly changed, it would be possible that having
Increased inducement (that is, the interests measurement improved) carries out building figure and/or builds figure again to region.Similarly, in some implementations
In mode, probabilistic measurement associated with region can with region is carried out building figure and/or builds the interests degree of figure again
Amount is associated, for example, the uncertainty measure in region is higher higher corresponding to the interests measurement for region build figure.To area
The interests measurement that domain build figure can be determined additionally or alternatively based on other signals, the signal such as from region
Time quantum since being built figure is not (for example, if through a long time is built figure in region, even when being the institute with low rate of change
It can also be interested region to state region), the value of inventory in region and/or equipment etc..For example, built from region figure with
The interests measurement that the time quantum come can correspond to region build more greatly figure is bigger.
In various embodiments, when one or more robots 1001To 100NWhen operating in a region, one or
Multiple robots 1001To 100NThe Data Connectivity between system 130 via one or more channels 128 is managed with robot
Measurement can be considered determining the when of build the interests measurement of figure to region.In some embodiments, the data in region
Internuncial measurement can be inversely proportional with the interests measurement for region build figure.For example, if in the specific region in warehouse
Wi-Fi is weaker and/or unreliable, it would be possible that it is necessary to collect to build about the as detailed as possible and/or newest of the region
Diagram data.Therefore, the robot 100 operated in this region with insecure Data Connectivity1To 100NCan still have and close
In the full information in the region automatically to operate relatively.Therefore, such region can with build figure and/or build the opposite of figure again
Higher interests measurement is associated.
Path planning engine 134 can in many ways be calculated based on a variety of data points with when executing its main task pair
The region of environment build the associated increased cost of robot 100 of figure.In some embodiments, it is described it is increased at
Originally one or more attributes of the robot 100 can be at least partially based on to determine.For example, the robot that height is crucial
(for example, downtime by particularly expensive or unfavorable robot) carries out region when executing its main task to build figure
Increased cost can be higher than significantly less critical robot and be used for executing the increased cost for building figure.Alternatively, to the need of robot
Ask bigger, the robot additionally executed when executing its main task build the increased cost of figure may be higher.Alternatively or additionally
Ground, it may be considered that the importance and/or time sensitivity of the main task of robot are measured, to determine that the robot is performed simultaneously
Build the increased cost of figure.For example, the importance of main task is higher, carries out building the increased of figure when executing the task
Cost is higher.Additionally or alternatively, it is necessary to build the shadow that figure brings the ability that follow-up work is executed to robot to region
Sound can be considered as a part for increased cost.
Once it is determined that when executing main task to region build the increased cost of the robot 100 of figure, then
It is assured that whether the increased cost is reasonable.In some embodiments, to region build the increased cost of figure
It can be for example compared after normalization with the quantitative measurement of interests.In some embodiments, if standardized increasing
The cost added, which is higher than, measures the standardization interests that region measures, then robot 100 can be deployed to only execute it
Main task.On the other hand, if standardized increased cost is measured less than standardized interests, robot 100 can
To be deployed to carry out building figure to interested region when also executing its main task.Additionally or alternatively, master is also being executed
It wants build the absolute cost of figure (for example, the cost for executing main task adds and carries out building figure to region to region when task
Increased cost) can by with threshold value comparison.Additionally or alternatively, to region build the interests measurement of figure can be used to count
Increased cost threshold value is calculated, and then increased cost can be compared with threshold value, to determine whether to dispose robot
Figure is built to be executed when robot executes its main task.
Although showing separately robot 100 in Fig. 11To 100NThe component of system 130 is managed with robot, but this is simultaneously
Do not indicate that it is restrictive.In various embodiments, the one or more components of robot 100 can be completely or partially in machine
Device people manages to be realized in system 130, and the one or more components of robot management system 130 can be completely or partially in machine
It is realized on device people 100.For example, although path planning engine 134 is illustrated in robot management system 130, at some
In embodiment, it can partly be realized in robot 100.For example, global path planning engine can be in robot management
It is realized in system 130, with to robot 1001To 100NThere is provided high level (for example, low resolution or " coarse ") influences.The influence can
With the wide knowledge about environment that may be had based on robot management system 130.Meanwhile each robot can match
Standby local paths planning device is to make higher resolution and/or finer decision in response to local stimulation.Additionally or alternatively,
Robot deployment engine 140 can be realized completely or partially in robot 100.Under such scene, robot 100 can be true
Determine (for example, being received from robot management system 130) and to region build the interests measurement of figure, and then decides it in its sole discretion to be
It is no region to be carried out to build figure executing the when of being assigned to the task of oneself.
Referring now to Fig. 2, the exemplary robotic 200 in robot fork truck form operated in warehouse environment is shown.
Can be that the appointment of robot 200 requires it to march to the main task of destination 250.Robot management system 130 has been computed
Constitute the default path 252 for the traversal of robot 200 to the most short and/or most direct route of destination 250.However, machine
People's management system 130 for example builds figure engine 136 by means of environment can determine that presence carries out building figure to the specific region 254 of environment
Interests measurement.For example, region 254 can be considered as the change rate for having relatively high, because it can serve as interim placement
Load the small station of in stock tray 256.
Robot management system 130 for example can calculate optional path 258 by means of path planning engine 134, it is described can
Routing diameter 258 is arriving at the destination before 250 through or past region 254.In some embodiments, path planning engine
134 can calculate the cost of the cost of traversal default path 252 and traversal optional path 258.Difference between two costs can
To be considered to be robot 200 when executing its main task (it is required that robot 200 marches to destination 250) to region 254
Build the increased cost of figure.Then robot deployment engine 140 can determine increased cost for being carried out to region 254
Whether the interests measurement for building figure is reasonable.If answer is reasonable, robot deployment engine 140 can be along optional path 258
Dispose robot 200.If answer is unreasonable, robot deployment engine 140 can dispose machine along default path 252
People 200.
In figure 3, can be that another robot 300 (equally in the form of fork truck robot) appointment requires it to march to mesh
Ground 350 task.In this example, robot 300 is via wireless access point 370 and robot management system (for example, 130)
Communication.Wireless access point 370 can promote various types of wireless communications between robot 300 and robot management system,
Wi-Fi, bluetooth, WiMAX, cellular network, proprietary wireless protocols etc..Wireless access point 370 can provide wireless signal, nothing
Line signal receiver (for example, robot 300) travel distance wireless access point 370 is remoter, then the wireless signal becomes weaker.
In figure 3, for example, first area 372a can have relatively stronger wireless signal, because it is adjacent to wireless access point 370.
Second area 372b can have slightly weaker signal because it apart from wireless access point 370 farther out.Apart from wireless access point
370 farthest third region 372c can have an even weaker signal, and in some cases can be enough it is weak so that
It is insecure in being considered to be.
Because wireless signal in the 372c of third region it is very unreliable (for example, as based on according to robot 300 and/or
The observations of other robots is determining), it is possible that it is expected or it is necessary to robot 300 can be with relatively high autonomous
Power operated in the 372c of third region because it can not dependent on robot manage system 130 come provide in real time detailed path,
Planning or instruction.Therefore, environment, which builds figure engine 136, can calculate the relatively high interests for third region 372c build figure
Measurement.Identical principle can be adapted for second area 372b, the difference is that less sharp, because wireless signal is the
It is more stronger than in the 372c of third region in two region 372b.Therefore, robot management system 130 can calculate two interests degree
Amount, the interests for second area 372b build figure, and another is used to carry out building figure to third region 372c
Interests.
In figure 3, robot management system 130 for example by means of path planning engine 134 planned two it is optional
Path 358a and 358b so that robot 300 can be traversed instead of 352 ground of default path.First optional path 358a warps
Cross the second area 372b with medium wireless signal.Second optional path 358b passes through the third with unreliable wireless signal
Region 372c.In order to determine robot 300 should traverse which path (352,358b, 358c), robot manages system 130
Such as cost associated with default path 352 is traversed can be calculated by means of path planning engine 134.According to the cost data,
Robot management system 130 for example builds figure engine 136 by means of path planning engine 134 and/or environment and then can determine phase
For the increased cost associated with the first optional path 358a of traversal of robot 300 of default path 352.Similarly, machine
People's management system 130 for example builds figure engine 136 by means of path planning engine 134 and/or environment can determine relative to acquiescence
The increased cost associated with the second optional path 358b of traversal of robot 300 of path 352.
If traversing the increased cost of the first optional path 358a for second area 372b build the interests of figure
Measurement is reasonable, then robot 300 can be deployed to the first optional path 358a of traversal to destination 350.If time
The increased cost for going through the second optional path 358b is reasonable for third region 372c build the interests measurement of figure, that
Robot 300 can be deployed to the second optional path 358b of traversal to destination 350.In two optional path 358a and
The increased cost of 358b is reasonable for the corresponding interests measurement for carrying out building figure to second area 372b and third region 372c
In the case of, then increased cost and/or interests measurement can be compared each other, to select best optional path.Example
Such as, corresponding interests measurement can be selected considerably more than that optional path of increased cost.
As described above, in some embodiments, to region build the interests measurement of figure can be based on being built from region
Time quantum since figure determines.Fig. 4 show based on region last time built figure since time quantum and limit in the environment more
The example of a region 472a to 472e.First area 472a is built figure recently in past X-1 chronomere." time is single
Position " can indicate any time unit, second, minute, hour, day, week, the moon, the time interval etc. arbitrarily limited.Second
Region 472b is also built figure in past X-l chronomere.Third region 472c is built in past X-4 chronomere
Figure.The fourth region 472d and the past X-3 chronomere of each leisures of the 5th region 472e are built figure.
In this example, it is assigned (this time in the form of robot remotely is presented) for robot 400 and requires it
March to the main task of destination 450.Such as passage path planning engine 134 is calculated for the traversal of robot 400 extremely
The acquiescence shortest path 452 of destination 450.Default path 452 is by first area 472a.Such as passage path planning is drawn
It holds up 134 and calculates the first optional path 458a, the first optional path 458a will lead robot 400 to pass through second area
472b and third region 472c.Such as passage path planning engine 134 calculates the second optional path 458b, and described second
Optional path 458b will lead robot 400 to pass through the fourth region 472d and the 5th region 472e.
Assuming that each region build the interests measurement of figure with from its last time by the past time since building figure at just
Than.It is further assumed that with along the associated increase of the first optional path 458a or the second optional path 458b traversal robots 400
Cost be rather moderate.In which case, the path that robot 400 takes can largely depend on how phase
Consider that the interests that various region 472a to 472e build with figure are measured for each other.
The interests measurement for first area 472a build figure can be relatively low, because it is relatively (past recently
X-1 chronomere) just built figure.Similarly, it sees in isolation, the interests measurement for second area 472b build figure can
With relatively low, because it is that (past X-1 chronomere) is just built figure recently relatively.However, by second area
The optional path 458a of the calculating of 472b also passes through third region 472c, and the third region 472c can have relatively high
Interests are measured, because it has been for some time, (past X-4 chronomere) is not built figure.Therefore, in default path
The 452 and first optional path 458a (and assuming that it is not excessively high to traverse the increased cost of the first optional path 458a) it
Between, the first optional path 458a can be selected to be traversed by robot 400, so that it can be to second area 472b and third area
Domain 472c carries out building figure.The interests measurement for the fourth region 472d and the 5th region 472e build figure can be relatively high, because
It is to be built figure before X-3 chronomere for each region last time.Therefore, default path 452 and second can routing
Between diameter 458b (and assuming that it is not excessively high to traverse the increased cost of the second optional path 458b), second can be selected
Optional path 458b.
Default path 452 (on the one hand) and the first optional path 458a or the second optional path 458c (on the other hand) it
Between carry out selection can be relatively directly.However, between the first optional path 458a and the second optional path 458b
Carrying out selection may be more complicated.In some embodiments, robot deployment engine 140 can be selected by with absolute highest
The optional path in the single region of interests measurement.In Fig. 4, such strategy will cause robot 400 to traverse the first optional path
458a, so that it passes through third region 472c, the third region 472c is measured with highest absolute advantage, because from last time
The most of the time passes by since building figure.In other embodiments, robot deployment engine 140 can be selected by tool
There is the optional path of the multiple regions of absolute supreme interest measurement.In Fig. 4, such strategy will cause the traversal of robot 400 the
Two optional path 458b, so that it passes through the fourth region 472d and the 5th region 472e, the fourth region 472d and the 5th
Region 472e together have net benefit measurement six (compared with second area 472b and third region 472c, the second area
Five) the 472b and third region 472c has net benefit measurement together.
In addition to previously described various data points and it is other consider other than, in some embodiments, management system of robot
System 130 can consider each attribute of multiple robots, to determine that disposing which of multiple robots comes to interested area
Domain carries out building figure.Referring to Fig. 5, show that Liang Ge robots 500a (in the form of robot remotely is presented) and 500b (are in fork truck machine
The form of device people).It has been that the first robot 500a assigns task of it being required to march to the first destination 550a.It has counted
It lets it pass and is traversed to the first default path 552a (for example, shortest path) of the first destination 550a for the first robot 500a.
It has been that the second robot 500b assigns task of it being required to march to the second destination 550b.It has calculated that and supplies the second machine
Device people 500b is traversed to the second default path 552b (for example, shortest path) of the second destination 550b.
Assuming that for example being calculated to region using one or more of previously described data point and/or technology
572 build the interests measurement of figure.Have calculated that the first optional path 558a, the first optional path 558a supplies the first machine
Device people 500a traversals are so that it can carry out region 572 in the way for going to the first destination 550a to build figure.Similarly,
The second optional path 558b, the second optional path 558b has been computed to traverse so that it is going for the second robot 500b
Region 572 can be carried out into the way of the second destination 550b to build figure.
Robot management system 130 for example can calculate the first robot 500a traversals by means of path planning engine 134
The increased cost of the first optional path 558a opposite with the first default path 552a.Similarly, robot manages system 130
Such as it can calculate the second robot 500b by means of path planning engine 134 and traverse opposite with the second default path 552b the
The increased cost of two optional path 558b.These increased costs calculate can by one of robot 500a to 500b or
Many aspects account for.
For example, it is assumed that Fig. 5 represents warehouse environment.Under such scene, generally it can be thought that the second robot 500b is than
One robot 500a (unless warehouse is not especially busy) have it is higher it is " key " measurement and/or more " suit the requirements " but more
" important ".In this case, the increased cost for the second robot 500b being disposed along the second optional path 558b can example
As relatively high because it may need to be used for follow-up warehouse task.On the other hand, if the first robot 500a is capable
The first destination 550a is proceeded to so that the long-range presentation robot that it can be taken over for use by very important persons such as Safety Inspector,
So it may be considered that more crucial than the second robot 500b and/or caters to the need or its task (marches to inspector institute
The destination of requisition) be considered it is relatively important.In this case, the first machine is shifted along the first optional path 558a
The increased cost of device people 500a can be relatively high.
The admissible another aspect when calculating increased cost of robot 500a and 500b are each for operating
The cost of robot.For example, relatively small, lighter and/or quicker robot compared with operate it is costly relatively
Bulky robot can be more suitable for for carrying out building figure to region.Admissible another party of robot 500a and 500b
Face is the cost and/or fragility of each robot.If robot is remotely presented than fork trucks such as 500b in 500a etc.
Robot is cheap, then deployment it is long-range robot is presented come to region 572 build the increased cost of figure can be relatively low.Machine
Admissible another attribute when calculating increased cost of people 500a and 500b are the electric power that can be used for each robot.Example
Such as, the increased cost of robot of the transfer with low battery capacity can be higher than the good robot of transfer electrical power, especially
If the first robot program is connected to charging station quickly.
Once robot management system 130 has calculated that robot 500a and 500b traverse its corresponding optional path
The increased cost of (558a and 558b), then robot management system may be selected by one or the other to traverse its process
The corresponding optional path in region 572 builds figure to execute.If shifting the increasing of any one robot along its corresponding optional path
The cost added is reasonable for region 572 build the interests measurement of figure, then can carry out two increased costs
Compare, and a robot can be selected to be shifted along its optional path based on the comparison.Alternatively, if to region 572
The interests measurement for build figure is sufficiently high, and will not collide, then Liang Ge robots 500a and 500b can be disposed
To carry out building figure to region 572 when executing its corresponding main task.
Referring now to Fig. 6, show that selectively dispose robot builds showing for figure to be executed in combination with execution main task
Example property method 600.For convenience's sake, the operation of flow chart is described with reference to the system for executing the operation.The system
May include the various component parts of various computer systems, including robot 100 and/or robot management system 130 are wanted
Element.Although in addition, showing the operation of method 600 with particular order, this is not offered as restrictive.It can arrange again
Sequence, omission or the one or more operations of addition.
At frame 602, system can determine the interests measurement for the specific region of environment build figure, such as such as previous institute
It discusses.In some embodiments, robot management system 130 can be for example by means of being run based on the record in index 138
The environment of calculating builds figure engine 136 to calculate interests measurement.In some embodiments, robot management system 130 for example by means of
Help the interests degree that user interface engine 132 can be manually entered from user or another computing system or even from robot reception
Amount.In some embodiments, once it is determined that then interests measurements, robot management system 130 can execute method 600
One or more of remaining operation of itself, and robot is disposed based on the result.In other embodiment
In, robot management system 130, which can measure the interests of calculating, is supplied to one or more robots, and robot itself
One or more of the remaining operation of method 600 can be executed.
At frame 604A and 604B, system can identify by by environment the first robot and the second robot execute
Corresponding task.Operation 604A and 604B (and other downstream process) is shown in Fig. 6 parallel, this indicates that these operations are to count parallel
It calculates.However, this be not offered as it is restrictive, and in various embodiments, the various behaviour of method 600 shown parallel
Work optionally can be executed serially, or be executed with parallel and/or serial any combinations.
At frame 606A and 606B, system can determine respectively with execute its task the first robot and execution its task
The associated cost of the second robot.At frame 608A and 608B, system can determine and when executing its task to region
Build the first robot of figure and to region build the associated corresponding increasing of the second robot of figure when executing its task
The cost added.At frame 610A and 610B, system can by frame 608A and 608B calculate corresponding increased cost with
The interests measurement determined at frame 602 is compared.If the answer at one in frame 610A and 610B is "No", method
600 can carry out to respective block 612A or 612B, in this case, corresponding robot will be deployed to execute its task and
Region is not carried out to build figure.
If the answer at two frames 610A and 610B is "Yes", method 600 can be carried out to frame 614.In frame 614
Place, system can by with the first robot and the second robot phase that region build figure when executing their corresponding task
Associated increased cost is compared, to determine which increased cost is preferred.It has been previously described for selecting one
The technology of a increased cost or another increased cost, and the technology may include the lower increased cost of selection,
Minimum absolute cost (for example, robot executes the cost of its task and the increased cost for building figure) etc..If first
The increased cost that robot carries out building figure to region is preferred, then method 600 may proceed to frame 616, and first
Robot can be deployed to carry out building figure to region when executing its task.If the second robot carries out region to build figure
Increased cost is preferred, then method 600 may proceed to frame 618, and the second robot can be deployed to holding
Region is carried out to build figure when its task of row.Although being not shown in Fig. 6, in some embodiments, Liang Ge robots can be with
It is deployed to build figure to region, such as even more complicated diagram data is built to obtain.For example, this can be when to region
Build when the interests measurement of figure meets extra high interests threshold value and occur.
Fig. 7 is the block diagram of exemplary computer system 710.Computer system 710 generally includes at least one processor
714, at least one processor 714 is via bus subsystem 712 and several peripheral communications.These peripheral units can be with
Including storage subsystem 724, storage subsystem 724 includes such as memory sub-system 725 and file storage subsystem 726, uses
Family interface output device 720, user interface input unit 722 and network interface subsystem 716.Input unit and output device are permitted
Perhaps it is interacted with the user of computer system 410.Network interface subsystem 716 provides interface for external network, and is coupled to it
Corresponding interface device in its computer system.
User interface input unit 722 may include keyboard；Mouse, trace ball, touch tablet or graphic tablet etc.
Indicator device；Scanner；The touch screen being incorporated into display；Such as voice input device of speech recognition system, microphone
And/or other types of input unit.In general, the use of term " input unit " is intended to include for entering information into
The device and mode of be possible to type in computer system 710 or on communication network.
User interface output device 720 may include display subsystem, printer, facsimile machine or such as audio output fills
The non-visual display unit such as set.Display subsystem may include that cathode-ray tube (CRT), liquid crystal display (LCD) etc. are flat
Panel device, projection arrangement or a certain other mechanism for creating visual picture.Display subsystem can also be such as via sound
Frequency output device provides non-visual display unit.In general, the use of term " output device " is intended to include for from calculating
710 output information of machine system is to user or another machine or the device and mode of the be possible to type of computer system.
Storage subsystem 724 store the function that some or all of module described herein is provided become and data
Structure.For example, storage subsystem 724 may include selected aspect for executing method 600 and/or realize robot 100 and/
Or the logic of the one or more aspects of robot management system 130.Memory 725 used in storage subsystem 724 can
To include several memories, memory includes main random access memory (RAM) (RAM) 730, and the main random access memory (RAM) 730 is used
In the store instruction during program is carried out and data；And read-only memory (ROM) 732, it stores in the read-only memory 732
There is fixed instruction.File storage subsystem 726 can be provided for program and data files and be permanently stored, and may include hard disk
Driver, CD-ROM drive, CD drive or removable medium box.Realize that the module of the function of certain embodiments can be with
It is stored in storage subsystem 724 by file storage subsystem 726, or is stored in the addressable other machines of processor 714
In.
712 offer mechanism of bus subsystem so as to allow computer system 710 various assemblies and subsystem as expected each other
Communication.Although bus subsystem 712 is shown schematically as single bus, the optional embodiment of bus subsystem can
To use multiple buses.
Computer system 710 can have different types, including work station, server, computing cluster, blade type service
Device, server farm, smart phone, smartwatch, intelligent glasses, set-top box, tablet computer, laptop or any other
Data processing system or computing device.Since the property of computer and networks constantly changes, the computer system shown in Fig. 7
710 description is only intended as the particular example of the purpose for illustrating some embodiments.Computer system 710 it is many its
It is possible that it, which is configured, and the other configurations have components more more or fewer than computer system shown in Fig. 7.
Although several embodiments have been illustrated and described herein, can also utilize for execute function and/or
Result and/or a variety of other manners for executing one or more of advantages described herein and/or structure are obtained, and
And each of the version and/or modification are considered as in the range of embodiments described herein.More typically and
Speech, all parameters, size, material and configuration described herein are intended to be exemplary, and actual parameter, size, material
And/or it configures the one or more application depending on having used this teaching.Using routine experiment, those skilled in the art will recognize
Know or will determine many equivalents of particular implementation described herein.Thus, it will be appreciated that aforementioned implementation
Mode is only presented by way of example, and in the range of appended claims and its equivalents, can with tool
Mode that body is described and claimed as different mode puts into practice each embodiment.Each embodiment of the disclosure is related to this paper institutes
Each Individual features, system, article, material, external member and/or the method for description.In addition, if the feature, system, article,
Material, external member and/or method be not conflicting, then two or more feature, system, article, material, external members
And/or any combinations of method include within the scope of this disclosure.
Claims (20)
1. a kind of method, including：
Determine that the interests for the region of environment build figure are measured by one or more processors；
Cost associated with the robot of task is executed is determined by one or more of described processor；
By one or more of described processor determine with when executing the task to the region of the environment into
Row builds the associated increased cost of the robot of figure；And
It is to close to be measured for the increased cost in response to the determination interests by one or more of described processor
Reason and dispose the robot to carry out building figure to the region when executing the task.
2. according to the method described in claim 1, wherein determining that interests measurement includes determining the change rate in the region, wherein institute
The change rate for stating region is bigger bigger corresponding to the interests measurement for the region build figure.
3. according to the method described in claim 1, wherein determining that interests measurement includes the uncertainty determined about the region
Measurement, wherein uncertainty measure are bigger bigger corresponding to the interests measurement for the region build figure.
4. according to the method described in claim 1, wherein determining that interests measurement includes determining that figure has been built in the region recently
Time, wherein bigger corresponding to the interests measurement for the region build figure by the time quantum since building figure from the region
It is bigger.
5. according to the method described in claim 1, wherein determining that interests measurement includes the Data Connectivity determined in the region
Measurement, be inversely proportional wherein the measurement of the Data Connectivity is measured with the interests for the region build figure.
6. according to the method described in claim 1, the wherein described increased cost is at least partially based on the robot
One or more attributes determine.
7. according to the method described in claim 6, one or more of attributes of the wherein described robot include and the machine
The associated key metric of device people.
8. according to the method described in claim 6, one or more of attributes of the wherein described robot include and the machine
The associated requirement measurement of device people.
9. according to the method described in claim 1, being wherein at least based in part on importance measures associated with the task
To determine the increased cost.
10. according to the method described in claim 1, being wherein at least based in part on, carry out building figure to the region will be to being assigned to
The influence that the follow-up work of the robot has determines the increased cost.
11. according to the method described in claim 1, wherein, the task is first task, the cost is that the robot is held
First cost of the row first task, the increased cost is the first increased cost, and the method further includes：
It is determined by one or more of described processor the second one-tenth associated with the second robot of second task that executes
This；
It is determined by one or more of described processor and when executing second task to the area of the environment
Domain build the associated second increased cost of second robot of figure；
The described first increased cost and the described second increased cost are carried out by one or more of described processor
Compare；And
First robot is selectively disposed by the result of one or more of described processor based on the comparison
Or second robot carries out the region building figure.
12. a kind of robot including memory and one or more processors manages system, one or more of processors
It is operable as executing the instruction being stored in the memory, includes the instruction for following operation：
Determine that the interests for the region of environment build figure are measured；
Determine cost associated with the robot of task is executed；
It determines and build the associated increasing of the robot of figure to the region of the environment with when executing the task
The cost added；And
The increased cost is reasonable in response to the determination interests measurement and disposes the robot to execute
The region is carried out when the task to build figure.
13. system according to claim 12, wherein determine that interests measurement includes the change rate in the determining region, wherein
The change rate in the region is bigger bigger corresponding to the interests measurement for the region build figure.
14. system according to claim 12, wherein determining that interests measurement includes determining about the uncertain of the region
Property measurement, wherein uncertainty measure it is bigger correspond to the region build figure interests measurement it is bigger.
15. system according to claim 12, wherein determining that interests measurement includes determining that figure has been built in the region recently
Time, wherein from the region by the time quantum since building figure it is bigger correspond to the region build the interests degree of figure
Amount is bigger.
16. system according to claim 12, wherein determining that interests measurement includes the data connection determined in the region
Property measurement, be inversely proportional wherein the measurement of the Data Connectivity is measured with the interests for the region build figure.
17. system according to claim 12 is wherein at least based in part on one or more attributes of the robot
To determine the increased cost.
18. system according to claim 17, wherein one or more of attributes of the robot include with it is described
The associated key metric of robot or requirement measurement.
19. system according to claim 12, wherein the task is first task, the cost is that the robot is held
First cost of the row first task, the increased cost is the first increased cost, and the system also includes with
In the instruction for executing following operation：
Determine the second cost associated with the second robot of the second task is executed；
Second robot phase for determining and to the region of the environment build figure when executing second task
Associated second increased cost；
Described first increased cost is compared with the described second increased cost；And
Result based on the comparison selectively disposes first robot or second robot comes to the region
It carries out building figure.
20. a kind of includes at least one non-transitory computer-readable medium of instruction, in response to described instruction by one or more
A processor is carried out, and described instruction causes one or more of processors to execute following operation：
Determine that the interests for the region of environment build figure are measured；
Determine cost associated with the robot of task is executed；
It determines and build the associated increasing of the robot of figure to the region of the environment with when executing the task
The cost added；And
The increased cost is reasonable in response to the determination interests measurement and disposes the robot to execute
The region is carried out when the task to build figure.
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| PCT/US2016/055183 WO2017062312A1 (en) | 2015-10-05 | 2016-10-03 | Selective deployment of robots to perform mapping |
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| US20170095926A1 (en) | 2017-04-06 |
| WO2017062312A1 (en) | 2017-04-13 |
| EP3341162A1 (en) | 2018-07-04 |
| TW201722653A (en) | 2017-07-01 |
| EP3341162B1 (en) | 2021-03-24 |
| TWI630996B (en) | 2018-08-01 |
| US9764470B2 (en) | 2017-09-19 |
| CN108367433B (en) | 2021-11-30 |
| EP3341162A4 (en) | 2019-04-17 |
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